diff --git a/components/esp_hw_support/CMakeLists.txt b/components/esp_hw_support/CMakeLists.txt
index 4f741ae742..f9ba7e3e87 100644
--- a/components/esp_hw_support/CMakeLists.txt
+++ b/components/esp_hw_support/CMakeLists.txt
@@ -172,11 +172,17 @@ else()
     list(APPEND priv_requires "esp_system")
 endif()
 
-set(public_include_dirs "include" "include/soc" "include/soc/${target}"
+set(public_include_dirs "include" "include/soc"
                         "dma/include" "ldo/include" "debug_probe/include"
                         "mspi_timing_tuning/include" "mspi_timing_tuning/tuning_scheme_impl/include"
                         "power_supply/include")
 
+if(EXISTS "${CMAKE_CURRENT_LIST_DIR}/include/soc/${target}")
+    list(APPEND public_include_dirs
+        "include/soc/${target}"
+    )
+endif()
+
 if(CONFIG_IDF_TARGET_ESP32H4)
     list(REMOVE_ITEM srcs
         "sleep_modes.c"
diff --git a/components/esp_hw_support/include/soc/esp32/rtc.h b/components/esp_hw_support/include/soc/esp32/rtc.h
deleted file mode 100644
index 537f0c0fab..0000000000
--- a/components/esp_hw_support/include/soc/esp32/rtc.h
+++ /dev/null
@@ -1,10 +0,0 @@
-/*
- * SPDX-FileCopyrightText: 2015-2024 Espressif Systems (Shanghai) CO LTD
- *
- * SPDX-License-Identifier: Apache-2.0
- */
-
-#pragma once
-
-#include "esp_rtc_time.h"
-#warning "Header file is deprecated, please include esp_rtc_time.h instead"
diff --git a/components/esp_hw_support/include/soc/esp32c2/rtc.h b/components/esp_hw_support/include/soc/esp32c2/rtc.h
deleted file mode 100644
index 537f0c0fab..0000000000
--- a/components/esp_hw_support/include/soc/esp32c2/rtc.h
+++ /dev/null
@@ -1,10 +0,0 @@
-/*
- * SPDX-FileCopyrightText: 2015-2024 Espressif Systems (Shanghai) CO LTD
- *
- * SPDX-License-Identifier: Apache-2.0
- */
-
-#pragma once
-
-#include "esp_rtc_time.h"
-#warning "Header file is deprecated, please include esp_rtc_time.h instead"
diff --git a/components/esp_hw_support/include/soc/esp32c3/rtc.h b/components/esp_hw_support/include/soc/esp32c3/rtc.h
deleted file mode 100644
index 537f0c0fab..0000000000
--- a/components/esp_hw_support/include/soc/esp32c3/rtc.h
+++ /dev/null
@@ -1,10 +0,0 @@
-/*
- * SPDX-FileCopyrightText: 2015-2024 Espressif Systems (Shanghai) CO LTD
- *
- * SPDX-License-Identifier: Apache-2.0
- */
-
-#pragma once
-
-#include "esp_rtc_time.h"
-#warning "Header file is deprecated, please include esp_rtc_time.h instead"
diff --git a/components/esp_hw_support/include/soc/esp32c5/rtc.h b/components/esp_hw_support/include/soc/esp32c5/rtc.h
deleted file mode 100644
index fde725277d..0000000000
--- a/components/esp_hw_support/include/soc/esp32c5/rtc.h
+++ /dev/null
@@ -1,10 +0,0 @@
-/*
- * SPDX-FileCopyrightText: 2023-2024 Espressif Systems (Shanghai) CO LTD
- *
- * SPDX-License-Identifier: Apache-2.0
- */
-
-#pragma once
-
-#include "esp_rtc_time.h"
-#warning "Header file is deprecated, please include esp_rtc_time.h instead"
diff --git a/components/esp_hw_support/include/soc/esp32c6/rtc.h b/components/esp_hw_support/include/soc/esp32c6/rtc.h
deleted file mode 100644
index f769cb3d63..0000000000
--- a/components/esp_hw_support/include/soc/esp32c6/rtc.h
+++ /dev/null
@@ -1,10 +0,0 @@
-/*
- * SPDX-FileCopyrightText: 2022-2024 Espressif Systems (Shanghai) CO LTD
- *
- * SPDX-License-Identifier: Apache-2.0
- */
-
-#pragma once
-
-#include "esp_rtc_time.h"
-#warning "Header file is deprecated, please include esp_rtc_time.h instead"
diff --git a/components/esp_hw_support/include/soc/esp32c61/rtc.h b/components/esp_hw_support/include/soc/esp32c61/rtc.h
deleted file mode 100644
index cfdae19342..0000000000
--- a/components/esp_hw_support/include/soc/esp32c61/rtc.h
+++ /dev/null
@@ -1,10 +0,0 @@
-/*
- * SPDX-FileCopyrightText: 2024 Espressif Systems (Shanghai) CO LTD
- *
- * SPDX-License-Identifier: Apache-2.0
- */
-
-#pragma once
-
-#include "esp_rtc_time.h"
-#warning "Header file is deprecated, please include esp_rtc_time.h instead"
diff --git a/components/esp_hw_support/include/soc/esp32h2/rtc.h b/components/esp_hw_support/include/soc/esp32h2/rtc.h
deleted file mode 100644
index f769cb3d63..0000000000
--- a/components/esp_hw_support/include/soc/esp32h2/rtc.h
+++ /dev/null
@@ -1,10 +0,0 @@
-/*
- * SPDX-FileCopyrightText: 2022-2024 Espressif Systems (Shanghai) CO LTD
- *
- * SPDX-License-Identifier: Apache-2.0
- */
-
-#pragma once
-
-#include "esp_rtc_time.h"
-#warning "Header file is deprecated, please include esp_rtc_time.h instead"
diff --git a/components/esp_hw_support/include/soc/esp32h21/rtc.h b/components/esp_hw_support/include/soc/esp32h21/rtc.h
deleted file mode 100644
index 8c0090b81e..0000000000
--- a/components/esp_hw_support/include/soc/esp32h21/rtc.h
+++ /dev/null
@@ -1,32 +0,0 @@
-/*
- * SPDX-FileCopyrightText: 2024 Espressif Systems (Shanghai) CO LTD
- *
- * SPDX-License-Identifier: Apache-2.0
- */
-
-#pragma once
-
-#include <stdint.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/**
- * @file esp32h21/rtc.h
- *
- * This file contains declarations of rtc related functions.
- */
-
-/**
- * @brief Get current value of RTC counter in microseconds
- *
- * Note: this function may take up to 1 RTC_SLOW_CLK cycle to execute
- *
- * @return current value of RTC counter in microseconds
- */
-uint64_t esp_rtc_get_time_us(void);
-
-#ifdef __cplusplus
-}
-#endif
diff --git a/components/esp_hw_support/include/soc/esp32h4/.gitkeep b/components/esp_hw_support/include/soc/esp32h4/.gitkeep
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/components/esp_hw_support/include/soc/esp32p4/rtc.h b/components/esp_hw_support/include/soc/esp32p4/rtc.h
deleted file mode 100644
index f769cb3d63..0000000000
--- a/components/esp_hw_support/include/soc/esp32p4/rtc.h
+++ /dev/null
@@ -1,10 +0,0 @@
-/*
- * SPDX-FileCopyrightText: 2022-2024 Espressif Systems (Shanghai) CO LTD
- *
- * SPDX-License-Identifier: Apache-2.0
- */
-
-#pragma once
-
-#include "esp_rtc_time.h"
-#warning "Header file is deprecated, please include esp_rtc_time.h instead"
diff --git a/components/esp_hw_support/include/soc/esp32s2/rtc.h b/components/esp_hw_support/include/soc/esp32s2/rtc.h
deleted file mode 100644
index 537f0c0fab..0000000000
--- a/components/esp_hw_support/include/soc/esp32s2/rtc.h
+++ /dev/null
@@ -1,10 +0,0 @@
-/*
- * SPDX-FileCopyrightText: 2015-2024 Espressif Systems (Shanghai) CO LTD
- *
- * SPDX-License-Identifier: Apache-2.0
- */
-
-#pragma once
-
-#include "esp_rtc_time.h"
-#warning "Header file is deprecated, please include esp_rtc_time.h instead"
diff --git a/components/esp_hw_support/include/soc/esp32s3/rtc.h b/components/esp_hw_support/include/soc/esp32s3/rtc.h
deleted file mode 100644
index 537f0c0fab..0000000000
--- a/components/esp_hw_support/include/soc/esp32s3/rtc.h
+++ /dev/null
@@ -1,10 +0,0 @@
-/*
- * SPDX-FileCopyrightText: 2015-2024 Espressif Systems (Shanghai) CO LTD
- *
- * SPDX-License-Identifier: Apache-2.0
- */
-
-#pragma once
-
-#include "esp_rtc_time.h"
-#warning "Header file is deprecated, please include esp_rtc_time.h instead"
diff --git a/components/esp_hw_support/include/soc/soc_memory_types.h b/components/esp_hw_support/include/soc/soc_memory_types.h
deleted file mode 100644
index ddbfcefc64..0000000000
--- a/components/esp_hw_support/include/soc/soc_memory_types.h
+++ /dev/null
@@ -1,9 +0,0 @@
-/*
- * SPDX-FileCopyrightText: 2010-2021 Espressif Systems (Shanghai) CO LTD
- *
- * SPDX-License-Identifier: Apache-2.0
- */
-
-#pragma once
-#include "esp_memory_utils.h"
-#warning "soc_memory_types.h is deprecated, please migrate to esp_memory_utils.h"
diff --git a/docs/en/migration-guides/release-6.x/6.0/system.rst b/docs/en/migration-guides/release-6.x/6.0/system.rst
index f7f564c36e..9fb82ecde6 100644
--- a/docs/en/migration-guides/release-6.x/6.0/system.rst
+++ b/docs/en/migration-guides/release-6.x/6.0/system.rst
@@ -44,6 +44,14 @@ Bootloader
 
 Removed option for compiling bootloader with no optimization level (-O0, `CONFIG_BOOTLOADER_COMPILER_OPTIMIZATION_NONE`). On most targets it was no longer possible to compile the bootloader with -O0, as IRAM sections would overflow. For debugging purposes, it is recommended to use the -Og (:ref:`CONFIG_BOOTLOADER_COMPILER_OPTIMIZATION_DEBUG<CONFIG_BOOTLOADER_COMPILER_OPTIMIZATION_DEBUG>`) optimization level instead. This provides a good balance between optimization and debuggability.
 
+Time
+----
+The deprecated ``{IDF_TARGET_NAME}/rtc.h`` header file has been removed. Please include the replacement ``esp_rtc_time.h`` instead.
+
+HW-Support
+----------
+The deprecated ``soc_memory_types.h`` header file has been removed. Please include the replacement ``esp_memory_utils.h`` instead.
+
 App Trace
 ----------